Design Of Control System For Four-axis Stamping Loading And Unloading Robo

As the foundation of the manufacturing industry,the stamping industry is developing in the direction of automation,digitization,and intelligence.With the increase in labor costs and the decline in the price of industrial robots,more and more stamping processing enterprises have begun to use robots instead of labor.Taking the automation upgrade of the stamping production line as the background,this project cooperated with an automation equipment Co.,Ltd.in Qingdao to develop a four-axis robot for loading and uploading of stamping,responsible for the design and debugging of the robot control system.The hardware system of the robot is built,the kinematic modeling of the robot and the trajectory planning of loading and unloading are carried out,and the motion control program of the robot is designed.The main research of the thesis is as follows:(1)According to the mechanical structure of the robot,the robot control system is designed.Hardware equipment of robot control system is selected,including robot controller,teaching pendant,PLC,servo drive,sensor.(2)The kinematics of the loading and unloading robot is analyzed,and a hybrid interpolation algorithm is proposed to complete the trajectory planning of the loading and unloading.A robot simulation model is built in Matlab;the robot kinematics model is established through the D-H matrix,the forward and inverse kinematics of the robot are deduced,and the simulation verification is carried out;using the Monte Carlo method to obtain the robot workspace.The polynomial interpolation,B-spline interpolation and hybrid polynomial interpolation algorithms are simulated and verified in joint space,and the advantages and disadvantages of each algorithm are analyzed.By analyzing the movement trajectory of robot loading and unloading,and improving the existing joint interpolation algorithm,a hybrid interpolation algorithm based on the combination of quintic B-spline and 5-5-5 polynomial is proposed.Simulation results shows that the hybrid interpolation algorithm can ensure that the joint angle,velocity,and acceleration of the robot are continuous and smooth,the start and end velocity and acceleration of the joints are 0,which effectively reduces the vibration generated during the robot loading and unloading process.(3)The software part of the loading and unloading robot control system is designed.The robot motion control program is designed in C++ language,including teaching jog,continuous motion,etc.;PLC communication program is designed with STEP 7 software;based on QT,the interface of stamping process teaching pendant is redeveloped,including stamping IO,parameter setting interface,etc.(4)A multi-machine continuous stamping production line is built with the robot developed by ourselves.The stamping production line consists of six four-axis loading and unloading robots,five punching machines,a depalletizer,and a conveyor belts.The network configuration of stamping production line based on PROFINET,S7-1200 PLC as controller,S7-200 SMART PLC in robot system as IO device,achieves the coordinated control of the punching machine and the robot action.Set the parameters of the stamping production line and monitor the status through the touch screen interface.This topic designs a stamping and blanking robot control system that builds a stamping automatic production line,effectively reduces labor costs,improves production efficiency,and provides a valuable reference for the automation upgrade of stamping processing enterprises.